Adaptive Fuzzy Fault Tolerant Control for Robot Manipulators with Fixed-Time Convergence

This paper aims to resolve the three major issues of fault tolerant control (FTC) for robot manipulators: (i) faster response, lower tracking errors, chattering and higher robustness FTC, (ii) requirement partial or full knowledge dynamics design model-based (iii) global fixed-time convergence system. First, a controller based on backstepping is designed its disadvantages are analysed. Then, an adaptive fuzzy developed enhance performance The proposed approach does not require prior dynamic model, thus facilitating implementation in practical applications. In addition, errors system will be practically convergent within fixed-time, which provides additional information advance. fixed time mathematically proved demonstrated FTC PUMA560 robot.